CN113608525A - Robot motion state indicating method and device, electronic equipment and storage medium - Google Patents
Robot motion state indicating method and device, electronic equipment and storage medium Download PDFInfo
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
Abstract
The application provides a robot motion state indicating method, a robot motion state indicating device, electronic equipment and a computer readable storage medium, wherein the method comprises the following steps: acquiring the current actual operation parameters of the robot; determining the motion state of the robot according to the actual operation parameters; and carrying out corresponding indication according to the motion state of the robot. In the embodiment of the application, the current actual operation parameters of the robot are obtained, the actual motion state of the robot is determined according to the actual operation parameters, and corresponding instructions are given according to the actual motion state of the robot, so that the motion state of the robot can be accurately prompted.
Description
Technical Field
The present application relates to the field of robotics, and in particular, to a method and an apparatus for indicating a motion state of a robot, an electronic device, and a computer-readable storage medium.
Background
With the vigorous development of robot technology, various industries (especially in the field of manufacturing) have begun to use transfer robots to reduce the manual work pressure.
However, when the transfer robot turns or travels in a curve, the transfer robot generally has an obstacle avoidance function, but may collide with a person or an object, and therefore, when the transfer robot turns or travels in a curve, it is necessary to give a status instruction.
Disclosure of Invention
An object of the embodiments of the present application is to provide a method and an apparatus for indicating a motion state of a robot, an electronic device, and a computer-readable storage medium, which can accurately prompt a motion state of a robot.
In a first aspect, an embodiment of the present application provides a method for indicating a motion state of a robot, where the method includes:
acquiring the current actual operation parameters of the robot;
determining the motion state of the robot according to the actual operation parameters;
and carrying out corresponding indication according to the motion state of the robot.
In the implementation process, the current actual operation parameters of the robot are obtained, the actual motion state of the robot is determined according to the actual operation parameters, and corresponding instructions are given according to the actual motion state of the robot, so that the motion state of the robot can be accurately prompted.
Further, the determining the motion state of the robot according to the actual operation parameters includes:
determining at least one of a curvature radius of a walking route of the robot, an angular velocity of the robot and a linear velocity of the robot according to the actual operation parameters;
and determining the motion state of the robot according to at least one of the curvature radius of the walking route of the robot, the angular velocity of the robot and the linear velocity of the robot.
In the implementation process, the motion state of the robot is determined according to at least one of the angular velocity, the linear velocity and the curvature radius of the robot, so that the motion state of the robot can be determined more accurately.
Further, the determining the motion state of the robot according to the curvature radius of the walking route of the robot comprises:
if the curvature radius is larger than or equal to the curvature radius threshold value, determining that the robot is in a straight-going state;
and if the curvature radius is smaller than the curvature radius threshold value, determining that the robot is in a turning state or in-situ spinning state.
In the implementation process, the specific motion state of the robot can be rapidly determined according to the curvature radius of the walking route of the robot, and the accuracy and the effectiveness of determining the specific motion state of the robot are further improved.
Further, the determining the motion state of the robot according to at least one of a curvature radius of the robot walking route, an angular velocity of the robot, and a linear velocity of the robot includes at least one of:
if the curvature radius is larger than or equal to a curvature radius threshold value, the absolute value of the angular velocity is smaller than a first angular velocity threshold value, and the absolute value of the linear velocity is larger than a first linear velocity threshold value, the motion state of the robot is determined to be a straight-moving state;
if the curvature radius is smaller than the curvature radius threshold, the absolute value of the angular velocity is larger than the first angular velocity threshold, and the absolute value of the linear velocity is larger than or equal to the second linear velocity threshold, determining that the motion state of the robot is a turning state;
and if the curvature radius is smaller than the curvature radius threshold, the absolute value of the angular velocity is larger than the first angular velocity threshold, and the absolute value of the linear velocity is smaller than the second linear velocity threshold, determining that the motion state of the robot is an in-situ spinning state.
In the implementation process, the motion state of the robot is determined to be a straight-going state, a turning state or a pivot spinning state according to the relation between the curvature radius of the walking route of the robot and the curvature radius threshold, and the magnitude of the angular velocity and the linear velocity, so that the motion state of the robot can be further determined, and the motion state of the robot is more definite.
Further, the determining the motion state of the robot according to at least one of a curvature radius of the robot walking route, an angular velocity of the robot, and a linear velocity of the robot includes at least one of:
if the curvature radius is smaller than the curvature radius threshold value and the linear velocity is larger than or equal to the second linear velocity threshold value, determining that the motion state of the robot is a forward turning state;
if the curvature radius is smaller than the curvature radius threshold value and the linear speed is smaller than a third linear speed threshold value, determining that the motion state of the robot is a backward turning state;
wherein the second and third linear velocity thresholds are of opposite sign.
In the implementation process, according to the relation between the curvature radius of the walking route of the robot and the curvature radius threshold value, the angular velocity and the linear velocity, the motion state of the robot is determined to be a forward turning state or a backward turning state, the motion state of the robot can be further subdivided, corresponding indication can be carried out according to the specific motion state subsequently, the type of indication can be enriched, and the human-computer interaction experience of the robot is improved.
Further, the determining the motion state of the robot according to at least one of a curvature radius of the robot walking route, an angular velocity of the robot, and a linear velocity of the robot includes at least one of:
if the curvature radius is smaller than the curvature radius threshold value, the linear velocity is larger than or equal to the second linear velocity threshold value, and the angular velocity is larger than the first angular velocity threshold value, the motion state of the robot is determined to be a forward left-turning state;
if the curvature radius is smaller than the curvature radius threshold value, the linear velocity is larger than or equal to the second linear velocity threshold value, and the angular velocity is smaller than a second angular velocity threshold value, the motion state of the robot is determined to be a forward right turning state;
if the curvature radius is smaller than the curvature radius threshold value, the linear velocity is smaller than a third linear velocity threshold value, and the angular velocity is smaller than the second angular velocity threshold value, the motion state of the robot is determined to be a backward left-turning state;
if the curvature radius is smaller than the curvature radius threshold value, the linear velocity is smaller than the third linear velocity threshold value, and the angular velocity is larger than the first angular velocity threshold value, it is determined that the motion state of the robot is a backward right-turning state;
wherein the second threshold value of angular velocity and the first threshold value of angular velocity are opposite in sign, and the third threshold value of linear velocity and the second threshold value of linear velocity are opposite in sign.
In the implementation process, according to the relation between the curvature radius of the walking route of the robot and the curvature radius threshold value, the angular velocity and the linear velocity, the motion state of the robot is determined to be a forward right-turning state, a forward left-turning state, a backward right-turning state or a backward left-turning state, the motion state of the robot can be further subdivided, the accuracy of determining the motion state of the robot is improved, corresponding indication can be subsequently performed according to the specific motion state, the indication types are further enriched, more accurate motion state indication can be performed, and the human-computer interaction experience of the robot is improved.
Further, the determining the motion state of the robot according to at least one of a curvature radius of the robot walking route, an angular velocity of the robot, and a linear velocity of the robot includes at least one of:
if the curvature radius is smaller than the curvature radius threshold, the absolute value of the linear velocity is smaller than the second linear velocity threshold, and the angular velocity is larger than the first angular velocity threshold, determining that the motion state of the robot is an in-situ left spinning state;
if the curvature radius is smaller than the curvature radius threshold, the absolute value of the linear velocity is smaller than the second linear velocity threshold, and the angular velocity is smaller than the second angular velocity threshold, determining that the motion state of the robot is an in-situ right spinning state;
wherein the second angular velocity threshold and the first angular velocity threshold are opposite in sign.
In the implementation process, according to the relation between the curvature radius of the walking route of the robot and the curvature radius threshold value, the angular velocity and the linear velocity, the motion state of the robot is determined to be an in-situ left spinning state or an in-situ right spinning state, the motion state of the robot can be further subdivided, the accuracy of determining the motion state of the robot is improved, corresponding indication can be subsequently performed according to the specific motion state, the indication types can be enriched, and the human-computer interaction experience of the robot is improved.
Further, the actual operating parameter includes a motor speed of the robot, and the determining at least one of a radius of curvature of the robot walking path, an angular velocity of the robot, and a linear velocity of the robot according to the actual operating parameter includes:
determining the linear speed of the robot and the angular speed of the robot according to the motor speed of the robot;
and determining the curvature radius of the walking route of the robot according to the linear speed and the angular speed of the robot.
In the implementation process, the linear velocity of the robot and the angular velocity of the robot can be quickly determined through the motor speed of the robot, so that the curvature radius of the walking route of the robot is determined, the calculated amount of data such as the linear velocity, the angular velocity and the curvature radius can be reduced, and meanwhile, the calculation accuracy is improved.
Further, after the determining the motion state of the robot according to the actual operation parameters, the method further includes:
acquiring an action instruction received by the robot;
judging whether the motion state indicated by the action instruction is consistent with the motion state determined according to the actual operation parameters;
and if the two are inconsistent, sending an alarm indication, and/or controlling the robot to execute corresponding operation.
In the implementation process, whether alarm indication is performed or not can be judged according to the action instruction received by the robot and the motion state determined according to the actual operation parameters, or the robot is controlled to execute corresponding operation, so that corresponding operation can be performed when the motion state of the robot is abnormal.
In a second aspect, an embodiment of the present application further provides an apparatus for indicating a motion state of a robot, where the apparatus includes:
the parameter acquisition module is used for acquiring the current actual operation parameters of the robot;
the state determining module is used for determining the motion state of the robot according to the actual operation parameters;
and the indicating module is used for carrying out corresponding indication according to the motion state of the robot.
In the implementation process, the current actual operation parameters of the robot are obtained, the motion state of the robot is determined according to the actual operation parameters, and finally corresponding instructions can be given according to the motion state of the robot. The motion state of the robot can be accurately indicated by making corresponding indication on the motion state of the robot according to the actual operation parameters of the robot.
In a third aspect, an embodiment of the present application further provides an electronic device, including a memory and a processor, where the memory is used to store a computer program, and the processor runs the computer program to make the electronic device execute the method for indicating the motion state of the robot according to the first aspect.
In a fourth aspect, the present application further provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the method for indicating a motion state of a robot according to the first aspect is implemented.
In a fifth aspect, embodiments of the present application provide a computer program product, which when run on a computer, causes the computer to perform the method according to any one of the first aspect.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic flowchart of a method for indicating a motion state of a robot according to an embodiment of the present disclosure;
fig. 2 is a schematic structural composition diagram of an indicating device for indicating a motion state of a robot according to an embodiment of the present disclosure;
fig. 3 is a schematic structural component diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Example one
Referring to fig. 1, an embodiment of the present application provides a method for indicating a motion state of a robot, where the method includes:
s10, acquiring the current actual operation parameters of the robot;
s11, determining the motion state of the robot according to the actual operation parameters;
and S12, performing corresponding indication according to the motion state of the robot.
For example, the motion states of the robot include: the straight-going state can also comprise a straight-going forward state or a straight-going backward state, the turning state can comprise a forward left-turning state, a forward right-turning state, a backward left-turning state or a backward right-turning state, and the spin-in-place state can comprise spin-in-place to the right or spin-in-place to the left.
In S12, a corresponding instruction is given according to the motion state of the robot. Specifically, the indication may be made in the form of sound or light, such as giving an alarm sound of "forward left turn", "backward right turn", or the like. Optionally, when the prompt is made through sound, the prompt can be made through lights with different colors.
The current actual operation parameters of the robot are obtained, the actual motion state of the robot is determined according to the actual operation parameters, corresponding indication is made according to the actual motion state of the robot, and the motion state of the robot can be accurately prompted.
In some prior art, the turning is judged according to the action instruction of the task module, and the prompting is carried out when the robot turns. However, the inventor finds that the robot turning judgment through the action command has some problems: for example, when the turning direction is judged by the action command, when the robot intelligently changes the original route by obstacle detouring or is abnormal, the condition of inaccurate state indication occurs, and a reminding error is caused; when the robot walks in a remote control mode, no action instruction can be acquired due to no participation of a task module, and at the moment, the instruction during turning cannot be given; in addition, the complexity of the software level is also increased by using the action command for judgment, for example, currently, the bessel curve walking task command received by the robot is a starting point and a middle curve control point, a task module needs to perform complex formula calculation in advance to know the turning direction of the robot, and the task module and an indication module are coupled in software engineering, so that the development and maintenance cost of software is increased.
According to the embodiment of the application, the actual motion state of the robot is determined according to the current actual operation parameters of the robot and corresponding indication is carried out, so that the condition that the state indication is wrong due to the fact that the robot changes an original route or is abnormal when action instructions are adopted for judgment is avoided. When the robot walks in a remote control manner, the motion state of the robot may be indicated by using the method for indicating the motion state of the robot according to the embodiment of the present application.
In other words, because the embodiment of the application does not need the participation of the task module, the robot can accurately judge the motion state and carry out corresponding indication no matter which route is intelligently selected or in the remote control state, and the human-computer interaction experience of the robot is improved. And the decoupling of the task module, the navigation module and the indication module is realized on the software engineering, the development efficiency of a software engineer is improved, and the later maintenance cost is reduced.
In the embodiment of the present application, the robot generally includes two wheels, i.e., a left driving wheel and a right driving wheel, but it should be noted that the method of the embodiment of the present application is not limited to the case where the robot includes only two driving wheels, and may also be a case where one driving wheel or other multiple driving wheels exist, and the actual operation parameter can be obtained by referring to the description of the embodiment, and the following description mainly takes two driving wheels as an example.
In a specific implementation, the current actual operation parameter of the robot may be a motor speed of the robot, and the motor speed of the robot may include a motor speed corresponding to a left wheel and a motor speed corresponding to a right wheel. Multiple wheels correspond to each motor speed of the robot. The method comprises the steps of determining the motor speed of the robot by obtaining a coded disc tick value returned by a motor encoder corresponding to a motor of the robot, and specifically obtaining a first motor speed corresponding to a first motor encoder and a second motor speed corresponding to a second motor encoder of the robot. In the embodiment, the mentioned "first motor speed" corresponds to the motor speed of the motor corresponding to the left wheel of the robot; the "second motor speed" corresponds to the motor speed of the motor corresponding to the right wheel of the robot.
S11 further includes: determining at least one of the curvature radius of the walking route of the robot, the angular speed of the robot and the linear speed of the robot according to the actual operation parameters;
and determining the motion state of the robot according to at least one of the curvature radius of the walking path of the robot, the angular speed of the robot and the linear speed of the robot.
Specifically, a first wheel speed is obtained according to a first motor speed; second wheel speed data is obtained based on the second motor speed. The first wheel speed is the wheel speed of the left wheel of the robot and the second wheel speed is the wheel speed of the right wheel of the robot. Further, the first wheel speed and the second wheel speed are respectively obtained according to the accuracy of the motor encoder, the reduction ratio of the motor, the wheel radius, the first motor speed and the second motor speed, and the first wheel speed and the second wheel speed corresponding to the left wheel and the right wheel of the robot can be calculated through the following formulas:
wherein v isl，vrRespectively a first wheel speed corresponding to the left wheel and a second wheel speed corresponding to the right wheel; pl，PrThe precision of the first motor encoder and the precision of the second motor encoder are respectively set; g is the reduction ratio of the robot; r is the wheel radius of the robot; t is tl，trThe first motor speed corresponding to the left wheel and the second motor speed corresponding to the right wheel are respectively.
Further, determining at least one of a curvature radius of a walking route of the robot, an angular velocity of the robot, and a linear velocity of the robot according to the actual operation parameters includes:
determining the linear speed of the robot and the angular speed of the robot according to the motor speed of the robot;
and determining the curvature radius of the walking route of the robot according to the linear speed and the angular speed of the robot.
Optionally, after the first wheel speed and the second wheel speed are obtained, the first wheel speed and the second wheel speed may be input to a low-pass processor for filtering processing, so as to obtain the filtered first wheel speed and second wheel speed, and the filtering processing of the wheel speeds may filter micro-jitter of the robot, so as to improve the accuracy of the data.
Further, the linear velocity of the robot is obtained from the first wheel speed and the second wheel speed, and specifically, the linear velocity of the robot is calculated by the following formula:
wherein v is the linear velocity of the robot; vl，VrRespectively, a first wheel speed corresponding to the left wheel and a second wheel speed corresponding to the right wheel.
Obtaining the angular velocity of the robot according to the first wheel velocity, the second wheel velocity, and the wheel spacing of the first wheel and the second wheel, specifically, calculating the angular velocity of the robot by the following formula:
wherein, ω is the angular velocity of the robot; v is the linear velocity of the robot; vl，VrRespectively a first wheel speed corresponding to the left wheel and a second wheel speed corresponding to the right wheel; and D is the wheel spacing between the left wheel and the right wheel of the robot.
In a specific implementation, the angular velocity of the robot can be obtained according to a right-hand coordinate system definition, where the right-hand coordinate system defines that the right front direction of the robot is x positive direction, the right left direction is y positive direction, the right up direction is z positive direction, and the left rotation is converted into the angular velocity direction.
Further, the radius of curvature of the robot walking path is calculated by the following formula:
wherein r is the curvature radius of the walking route of the robot; v is the linear velocity of the robot; and omega is the angular speed of the robot.
Further, determining the motion state of the robot according to at least one of the curvature radius of the walking path of the robot, the angular velocity of the robot and the linear velocity of the robot includes:
if the curvature radius is larger than or equal to the curvature radius threshold value, determining that the robot is in a straight-going state;
and if the curvature radius is smaller than the curvature radius threshold value, determining that the robot is in a turning state or in-situ spinning state.
The curvature radius threshold in the embodiment of the present application may be preset, or may be adjusted according to the size, weight, walking environment, and the like of the robot.
The motion state of the robot may be further determined based on at least one of the angular velocity and the linear velocity of the robot, and the radius of curvature.
In one embodiment, if the curvature radius is greater than or equal to the curvature radius threshold, the absolute value of the angular velocity is less than a first angular velocity threshold, and the absolute value of the linear velocity is greater than the first linear velocity threshold, determining that the motion state of the robot is a straight-ahead state; if the curvature radius is smaller than the curvature radius threshold value, the absolute value of the angular velocity is larger than a first angular velocity threshold value, and the absolute value of the linear velocity is larger than or equal to a second linear velocity threshold value, the motion state of the robot is determined to be a turning state; and if the curvature radius is smaller than the curvature radius threshold, the absolute value of the angular velocity is larger than the first angular velocity threshold, and the absolute value of the linear velocity is smaller than the second linear velocity threshold, determining that the motion state of the robot is an in-situ spinning state.
Specifically, the straight-traveling state may include a straight-traveling forward state and a straight-traveling backward state, and when the linear velocity is a positive value, the moving state of the robot may be determined to be the straight-traveling forward state, and when the linear velocity is a negative value, the moving state of the robot may be determined to be the straight-traveling backward state.
In one embodiment, the specific turning state of the robot may be determined from the radius of curvature and the linear velocity: if the curvature radius is smaller than the curvature radius threshold value and the linear velocity is larger than or equal to the second linear velocity threshold value, determining that the motion state of the robot is an advancing turning state; if the curvature radius is smaller than the curvature radius threshold value and the linear speed is smaller than a third linear speed threshold value, determining that the motion state of the robot is a backward turning state; wherein the second and third linear velocity thresholds are of opposite sign. It should be noted here that when the second linear velocity threshold value is a positive value, the third linear velocity threshold value is a negative value. Illustratively, the second linear velocity threshold and the second linear velocity threshold are opposite numbers.
In another embodiment, a more specific turning state of the robot can be further determined from the curvature radius, the linear velocity and the angular velocity:
if the curvature radius is smaller than the curvature radius threshold value, the linear velocity is larger than or equal to the second linear velocity threshold value, and the angular velocity is larger than the first angular velocity threshold value, the motion state of the robot is determined to be an advancing left-turning state;
if the curvature radius is smaller than the curvature radius threshold value, the linear velocity is larger than or equal to a second linear velocity threshold value, and the angular velocity is smaller than a second angular velocity threshold value, the motion state of the robot is determined to be a forward right turning state;
if the curvature radius is smaller than the curvature radius threshold value, the linear speed is smaller than a third linear speed threshold value, and the angular speed is smaller than a second angular speed threshold value, the motion state of the robot is determined to be a backward left-turning state;
if the curvature radius is smaller than the curvature radius threshold value, the linear speed is smaller than a third linear speed threshold value, and the angular speed is larger than a first angular speed threshold value, the motion state of the robot is determined to be a backward right-turning state;
wherein the second angular velocity threshold value and the first angular velocity threshold value have opposite signs, and the third linear velocity threshold value and the second linear velocity threshold value have opposite signs. For example, the second angular velocity threshold and the first angular velocity threshold are opposite numbers, and the third linear velocity threshold and the second linear velocity threshold are opposite numbers.
In another embodiment, if the curvature radius is smaller than the curvature radius threshold, the absolute value of the linear velocity is smaller than the second linear velocity threshold, and the angular velocity is larger than the first angular velocity threshold, it is determined that the motion state of the robot is in an in-situ left spinning state;
if the curvature radius is smaller than the curvature radius threshold value, the absolute value of the linear velocity is smaller than a second linear velocity threshold value, and the angular velocity is smaller than a second angular velocity threshold value, the motion state of the robot is determined to be an in-situ right spinning state;
wherein the second angular velocity threshold and the first angular velocity threshold are opposite in sign. Illustratively, the second angular velocity threshold and the first angular velocity threshold are opposite numbers to each other.
In one implementation, the motion state of the robot can be determined by the following relation of curvature radius r, linear velocity v, and angular velocity ω:
in specific implementation, the curvature radius threshold, the linear velocity threshold and the angular velocity threshold can be adjusted according to actual use conditions, and the motion state of the robot is further accurately determined.
Referring to the above expression (1), the straight-traveling state of the robot of the embodiment of the present application includes: a straight forward state (front) and a straight reverse state (back); turning conditions include, but are not limited to: a forward left turn state (front left), a forward right turn state (front right), a reverse left turn state (back left), and a reverse right turn state (back right); the in-situ spin state includes: an in-situ left spin state (left) and an in-situ right spin state (right).
Taking the expression (1) as an example, if the curvature radius r is greater than or equal to the curvature radius threshold (such as 3.0), determining that the robot is in a straight-line state; if the curvature radius r is smaller than the curvature radius threshold value (such as 3.0), the robot is determined to be in a turning state or in a pivot spinning state.
Further, if the curvature radius r is greater than or equal to a curvature radius threshold (e.g. 3.0) and the linear velocity v is greater than a first linear velocity threshold (e.g. 0.05), determining that the motion state of the robot is a straight-ahead state (front); and if the curvature radius r is larger than or equal to a curvature radius threshold value (such as 3.0) and the linear velocity v is smaller than a second linear velocity threshold value (such as-0.05), determining that the motion state of the robot is a straight-going backward state (back).
Further, if the curvature radius r is smaller than a curvature radius threshold value (such as 3.0) and the linear velocity v is larger than or equal to a second linear velocity threshold value (such as 0.1), determining that the motion state of the robot is a forward turning state;
and if the curvature radius r is smaller than a curvature radius threshold value (such as 3.0) and the linear velocity v is smaller than a third linear velocity threshold value (such as-0.1), determining that the motion state of the robot is a backward turning state.
Further, if the curvature radius r is smaller than the curvature radius threshold (e.g. 3.0), the linear velocity v is greater than or equal to the second linear velocity threshold (e.g. 0.1), and the angular velocity ω is greater than the first angular velocity threshold (e.g. 0.05), determining that the motion state of the robot is a forward left-turn state (front left);
if the curvature radius is less than r the curvature radius threshold (such as 3.0), the linear velocity v is greater than or equal to a second linear velocity threshold (such as 0.1), and the angular velocity omega is less than a second angular velocity threshold (such as-0.05), determining that the motion state of the robot is a forward right turn state (front right);
if the curvature radius is smaller than r curvature radius threshold value (such as 3.0), the linear velocity v is smaller than a third linear velocity threshold value (such as-0.1), and the angular velocity omega is smaller than a second angular velocity threshold value (such as-0.05), determining that the motion state of the robot is a backward left-turning state (back left);
if the curvature radius r is smaller than the curvature radius threshold (e.g., 3.0), the linear velocity v is smaller than the third linear velocity threshold (e.g., -0.1), and the angular velocity ω is greater than the first angular velocity threshold (e.g., 0.05), the motion state of the robot is determined to be a back right turn state (back right).
Further, if the curvature radius r is smaller than a curvature radius threshold (e.g. 3.0), the absolute value of the linear velocity v is smaller than a second linear velocity threshold (e.g. 0.1), and the angular velocity ω is greater than a first angular velocity threshold (e.g. 0.05), determining that the motion state of the robot is an in-situ left spinning state (left);
if the curvature radius r is smaller than the curvature radius threshold (e.g. 3.0), the absolute value of the linear velocity v is smaller than a second linear velocity threshold (e.g. 0.1), and the angular velocity ω is smaller than a second angular velocity threshold (e.g. -0.05), the motion state of the robot is determined to be an in-situ right spinning state (right).
The determination process of the motion state of the robot in the method of the present application is described by way of example.
For example, at a certain time t1The linear velocity v of the robot is 1.0m/s and the angular velocity ω is 0.5 rad/s. The radius of curvature r can be calculated to be 2 m.
After the above-described comprehensive determination of the linear velocity, angular velocity, and curvature radius, dir is front left, and the robot is in a left-turn forward state.
To t2At time ω becomes 0, v is still 1m/s, and if r ═ infinity (positive infinity) is calculated, dir ═ front, the robot is in the straight-ahead state.
From t1Time t2At the moment, the robot should switch the obstacle avoidance area from a left turning state to a straight advancing state.
The method embodiment can be represented as acousto-optic indication of the motion state in the application of the robot.
In another embodiment, after S12, the method further includes:
acquiring an action instruction received by the robot;
judging whether the motion state indicated by the action instruction is consistent with the motion state determined according to the actual operation parameters;
and if the two are inconsistent, sending an alarm indication, and/or controlling the robot to execute corresponding operation.
For example, the received action instruction is to go straight ahead, but the motion state determined according to the current actual operation parameters of the robot is to go forward and turn, then the possibility that the robot slips can be judged, and at this time, an alarm instruction is sent out to inform a worker to perform corresponding processing in time; or directly controlling the robot to decelerate or stop at the moment so as to prevent collision; alternatively, the robot is controlled to perform operations such as deceleration or stop while issuing a warning instruction to notify the operator.
It should be noted that, in the embodiment of the present application, the specific straight-moving state, turning state, and in-situ spinning state of the robot may be directly determined by combining the curvature radius, the linear velocity, and the angular velocity, and need not be determined by the order of determining the curvature radius, the linear velocity, and the angular velocity.
In the embodiment of the method, the current actual operation parameters of the robot are obtained, the motion state of the robot is determined according to the actual operation parameters, and finally, corresponding instructions can be given according to the motion state of the robot. The robot motion state indication method and device can make corresponding indication to the motion state of the robot according to actual operation parameters of the robot, solve the problem that the motion state of the robot needs to be indicated by action instructions received by the robot in the prior art, improve the accuracy of robot motion state indication, reduce the calculated amount for acquiring the motion state of the robot, reduce hardware cost, development cost and later maintenance cost, and improve the human-computer interaction experience of the robot.
Example two
In order to implement the corresponding method of the above embodiments to achieve the corresponding functions and technical effects, an indication device for a motion state of a robot is provided below. Referring to fig. 2, an indicating apparatus for indicating a motion state of a robot according to an embodiment of the present disclosure includes:
the parameter acquisition module 21 is used for acquiring the current actual operation parameters of the robot;
the state determining module 22 is used for determining the motion state of the robot according to the actual operation parameters;
and the indicating module 23 is used for carrying out corresponding indication according to the motion state of the robot.
Further, the state determining module 22 is further configured to determine at least one of a curvature radius of the robot walking route, an angular velocity of the robot, and a linear velocity of the robot according to the actual operation parameter; and determining the motion state of the robot according to at least one of the curvature radius of the walking path of the robot, the angular speed of the robot and the linear speed of the robot.
Further, the actual operation parameters include a motor speed of the robot, and the state determination module 22 is further configured to determine a linear velocity of the robot and an angular velocity of the robot according to the motor speed of the robot; and determining the curvature radius of the walking route of the robot according to the linear speed and the angular speed of the robot.
Further, the status determination module 22 is further configured to perform at least one of: if the curvature radius is larger than or equal to the curvature radius threshold value, determining that the robot is in a straight-going state; and if the curvature radius is smaller than the curvature radius threshold value, determining that the robot is in a turning state or in-situ spinning state.
The status determination module 22 is further configured to perform at least one of: if the curvature radius is larger than or equal to the curvature radius threshold, the absolute value of the angular velocity is smaller than a first angular velocity threshold, and the absolute value of the linear velocity is larger than a first linear velocity threshold, determining that the motion state of the robot is a straight-moving state; if the curvature radius is smaller than the curvature radius threshold value, the absolute value of the angular velocity is larger than a first angular velocity threshold value, and the absolute value of the linear velocity is larger than or equal to a second linear velocity threshold value, the motion state of the robot is determined to be a turning state; and if the curvature radius is smaller than the curvature radius threshold, the absolute value of the angular velocity is larger than the first angular velocity threshold, and the absolute value of the linear velocity is smaller than the second linear velocity threshold, determining that the motion state of the robot is an in-situ spinning state.
The status determination module 22 is further configured to perform at least one of: if the curvature radius is smaller than the curvature radius threshold value and the linear velocity is larger than or equal to the second linear velocity threshold value, determining that the motion state of the robot is an advancing turning state; if the curvature radius is smaller than the curvature radius threshold value and the linear speed is smaller than a third linear speed threshold value, determining that the motion state of the robot is a backward turning state; wherein the second and third linear velocity thresholds are of opposite sign.
The status determination module 22 is further configured to perform at least one of: if the curvature radius is smaller than the curvature radius threshold value, the linear velocity is larger than or equal to the second linear velocity threshold value, and the angular velocity is larger than the first angular velocity threshold value, the motion state of the robot is determined to be an advancing left-turning state; if the curvature radius is smaller than the curvature radius threshold value, the linear velocity is larger than or equal to a second linear velocity threshold value, and the angular velocity is smaller than a second angular velocity threshold value, the motion state of the robot is determined to be a forward right turning state; if the curvature radius is smaller than the curvature radius threshold value, the linear speed is smaller than a third linear speed threshold value, and the angular speed is smaller than a second angular speed threshold value, the motion state of the robot is determined to be a backward left-turning state; if the curvature radius is smaller than the curvature radius threshold value, the linear speed is smaller than a third linear speed threshold value, and the angular speed is larger than a first angular speed threshold value, the motion state of the robot is determined to be a backward right-turning state; wherein the second angular velocity threshold value and the first angular velocity threshold value have opposite signs, and the third linear velocity threshold value and the second linear velocity threshold value have opposite signs.
The status determination module 22 is further configured to perform at least one of: if the curvature radius is smaller than the curvature radius threshold value, the absolute value of the linear velocity is smaller than a second linear velocity threshold value, and the angular velocity is larger than a first angular velocity threshold value, the motion state of the robot is determined to be an in-situ left spinning state; if the curvature radius is smaller than the curvature radius threshold value, the absolute value of the linear velocity is smaller than a second linear velocity threshold value, and the angular velocity is smaller than a second angular velocity threshold value, the motion state of the robot is determined to be an in-situ right spinning state; wherein the second angular velocity threshold value and the first angular velocity threshold value have opposite signs.
Further, the apparatus further comprises: the execution module is used for acquiring the action instruction received by the robot; judging whether the motion state indicated by the action instruction is consistent with the motion state determined according to the actual operation parameters; and if the two are inconsistent, sending an alarm indication, and/or controlling the robot to execute corresponding operation.
The robot motion state indicating device may implement the robot motion state indicating method according to the first embodiment. The alternatives in the first embodiment are also applicable to the present embodiment, and are not described in detail here.
The rest of the embodiments of the present application may refer to the contents of the first embodiment, and in this embodiment, details are not repeated.
EXAMPLE III
An embodiment of the present application provides an electronic device, which includes a memory and a processor, where the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the method for indicating a motion state of a robot according to the first embodiment.
Alternatively, the electronic device may be a transfer robot, a server or a controller communicatively connected to the transfer robot, or a control device mounted on the transfer robot.
Referring to fig. 3, fig. 3 is a schematic structural composition diagram of an electronic device according to an embodiment of the present disclosure. The electronic device may include a processor 31, a communication interface 32, a memory 33, and at least one communication bus 34. Wherein the communication bus 34 is used for realizing direct connection communication of these components. The communication interface 32 of the device in the embodiment of the present application is used for performing signaling or data communication with other node devices. The processor 31 may be an integrated circuit chip having signal processing capabilities.
The Processor 31 may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor 31 may be any conventional processor or the like.
The Memory 33 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like. The memory 33 has stored therein computer readable instructions which, when executed by the processor 31, enable the apparatus to perform the various steps involved in the method embodiment of fig. 1 described above.
Optionally, the electronic device may further include a memory controller, an input output unit. The memory 33, the memory controller, the processor 31, the peripheral interface, and the input/output unit are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, these components may be electrically connected to each other via one or more communication buses 34. The processor 31 is adapted to execute executable modules stored in the memory 33, such as software functional modules or computer programs comprised by the device.
The input and output unit is used for providing a task for a user to create and start an optional time period or preset execution time for the task creation so as to realize the interaction between the user and the server. The input/output unit may be, but is not limited to, a mouse, a keyboard, and the like.
It will be appreciated that the configuration shown in fig. 3 is merely illustrative and that the electronic device may include more or fewer components than shown in fig. 3 or have a different configuration than shown in fig. 3. The components shown in fig. 3 may be implemented in hardware, software, or a combination thereof.
In addition, an embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the method for indicating a motion state of a robot according to the first embodiment.
The embodiment of the present application further provides a computer program product, which when running on a computer, causes the computer to execute the method for indicating the motion state of the robot according to the method embodiment.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: u disk, removable hard disk, read only memory, random access memory, magnetic or optical disk, etc. for storing program codes.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (12)
1. A method for indicating a motion state of a robot, the method comprising:
acquiring the current actual operation parameters of the robot;
determining the motion state of the robot according to the actual operation parameters;
and carrying out corresponding indication according to the motion state of the robot.
2. The method for indicating the motion state of the robot according to claim 1, wherein the determining the motion state of the robot according to the actual operation parameters comprises:
determining at least one of a curvature radius of a walking route of the robot, an angular velocity of the robot and a linear velocity of the robot according to the actual operation parameters;
and determining the motion state of the robot according to at least one of the curvature radius of the walking route of the robot, the angular velocity of the robot and the linear velocity of the robot.
3. The method for indicating the motion state of the robot according to claim 2, wherein the determining the motion state of the robot according to the curvature radius of the robot walking route comprises at least one of:
if the curvature radius is larger than or equal to the curvature radius threshold value, determining that the robot is in a straight-going state;
and if the curvature radius is smaller than the curvature radius threshold value, determining that the robot is in a turning state or in-situ spinning state.
4. The method for indicating the motion state of the robot according to claim 2, wherein the determining the motion state of the robot according to at least one of a curvature radius of the walking path of the robot, an angular velocity of the robot, and a linear velocity of the robot comprises at least one of:
if the curvature radius is larger than or equal to a curvature radius threshold value, the absolute value of the angular velocity is smaller than a first angular velocity threshold value, and the absolute value of the linear velocity is larger than a first linear velocity threshold value, the motion state of the robot is determined to be a straight-moving state;
if the curvature radius is smaller than the curvature radius threshold, the absolute value of the angular velocity is larger than the first angular velocity threshold, and the absolute value of the linear velocity is larger than or equal to the second linear velocity threshold, determining that the motion state of the robot is a turning state;
and if the curvature radius is smaller than the curvature radius threshold, the absolute value of the angular velocity is larger than the first angular velocity threshold, and the absolute value of the linear velocity is smaller than the second linear velocity threshold, determining that the motion state of the robot is an in-situ spinning state.
5. The method for indicating the motion state of the robot according to claim 2, wherein the determining the motion state of the robot according to at least one of a curvature radius of the walking path of the robot, an angular velocity of the robot, and a linear velocity of the robot comprises at least one of:
if the curvature radius is smaller than the curvature radius threshold value and the linear velocity is larger than or equal to the second linear velocity threshold value, determining that the motion state of the robot is a forward turning state;
if the curvature radius is smaller than the curvature radius threshold value and the linear speed is smaller than a third linear speed threshold value, determining that the motion state of the robot is a backward turning state;
wherein the second and third linear velocity thresholds are of opposite sign.
6. The method for indicating the motion state of the robot according to claim 2, wherein the determining the motion state of the robot according to at least one of a curvature radius of the walking path of the robot, an angular velocity of the robot, and a linear velocity of the robot comprises at least one of:
if the curvature radius is smaller than the curvature radius threshold value, the linear velocity is larger than or equal to the second linear velocity threshold value, and the angular velocity is larger than the first angular velocity threshold value, the motion state of the robot is determined to be a forward left-turning state;
if the curvature radius is smaller than the curvature radius threshold value, the linear velocity is larger than or equal to the second linear velocity threshold value, and the angular velocity is smaller than a second angular velocity threshold value, the motion state of the robot is determined to be a forward right turning state;
if the curvature radius is smaller than the curvature radius threshold value, the linear velocity is smaller than a third linear velocity threshold value, and the angular velocity is smaller than the second angular velocity threshold value, the motion state of the robot is determined to be a backward left-turning state;
if the curvature radius is smaller than the curvature radius threshold value, the linear velocity is smaller than the third linear velocity threshold value, and the angular velocity is larger than the first angular velocity threshold value, it is determined that the motion state of the robot is a backward right-turning state;
wherein the second threshold value of angular velocity and the first threshold value of angular velocity are opposite in sign, and the third threshold value of linear velocity and the second threshold value of linear velocity are opposite in sign.
7. The method for indicating the motion state of the robot according to claim 2, wherein the determining the motion state of the robot according to at least one of a curvature radius of the walking path of the robot, an angular velocity of the robot, and a linear velocity of the robot comprises at least one of:
if the curvature radius is smaller than the curvature radius threshold, the absolute value of the linear velocity is smaller than the second linear velocity threshold, and the angular velocity is larger than the first angular velocity threshold, determining that the motion state of the robot is an in-situ left spinning state;
if the curvature radius is smaller than the curvature radius threshold, the absolute value of the linear velocity is smaller than the second linear velocity threshold, and the angular velocity is smaller than the second angular velocity threshold, determining that the motion state of the robot is an in-situ right spinning state;
wherein the second angular velocity threshold and the first angular velocity threshold are opposite in sign.
8. The method of claim 2, wherein the actual operating parameters include a motor speed of the robot, and wherein the determining at least one of a radius of curvature of the robot walking path, an angular velocity of the robot, and a linear velocity of the robot based on the actual operating parameters comprises:
determining the linear speed of the robot and the angular speed of the robot according to the motor speed of the robot;
and determining the curvature radius of the walking route of the robot according to the linear speed and the angular speed of the robot.
9. The method for indicating the motion state of the robot according to any one of claims 1 to 8, further comprising, after the determining the motion state of the robot according to the actual operation parameters:
acquiring an action instruction received by the robot;
judging whether the motion state indicated by the action instruction is consistent with the motion state determined according to the actual operation parameters;
and if the two are inconsistent, sending an alarm indication, and/or controlling the robot to execute corresponding operation.
10. An apparatus for indicating a motion state of a robot, the apparatus comprising:
the parameter acquisition module is used for acquiring the current actual operation parameters of the robot;
the state determining module is used for determining the motion state of the robot according to the actual operation parameters;
and the indicating module is used for carrying out corresponding indication according to the motion state of the robot.
11. An electronic device, comprising a memory for storing a computer program and a processor for executing the computer program to cause the electronic device to perform the method of indicating a motion state of a robot according to any one of claims 1 to 9.
12. A computer-readable storage medium, characterized in that it stores a computer program which, when executed by a processor, implements a method of indicating a state of motion of a robot according to any one of claims 1 to 9.
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